#ifndef __CORE_H__
#define __CORE_H__

#include <ros/ros.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
#include <glog/logging.h>

#include "pose_2d.h"
#include "pixel_2d.h"
#include "velocity_2d.h"
#include "robot_model.h"
#include "sensor_data.h"
#include "map_utils.h"
#include "msg_convert.h"
#include "math_utils.h"


namespace core{

    // 获取TF坐标变换
    bool GetTFPose(tf2_ros::Buffer* tf_buffer, geometry_msgs::PoseStamped& global_pose, string father_frame, string child_frame, ros::Time stamp);

}// namespace

#endif